CN114531078B - Method for suppressing torque pulsation and bus current pulsation of switched reluctance motor - Google Patents
Method for suppressing torque pulsation and bus current pulsation of switched reluctance motor Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
- H02P25/098—Arrangements for reducing torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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Abstract
The invention discloses a method for suppressing torque pulsation and bus current pulsation of a switched reluctance motor. The method needs to obtain the flux linkage characteristic and the torque characteristic of the switched reluctance motor through off-line measurement. The total torque reference value is output by the speed proportional integral controller, and the torque distribution function calculates the reference torque value of each phase. And calculating flux linkage and current information at the moment k+1 according to the position and current information at the moment k and the position information stored at the moment k-1 and combining the optimal switching vector calculated at the last moment to perform delay compensation. On the basis, the position information at the moment k+2 and the flux linkage current information under the available switch vectors are predicted, then the torque and the inverter input current value under each switch state are obtained by table lookup and brought into a cost function, and the running state with the minimum cost function value is used as a switch signal and is applied to the control power converter, so that the effect of simultaneously inhibiting the torque ripple and the bus current ripple is achieved. The effectiveness of the method is verified through simulation, the control logic of the method is simple, the torque ripple and bus current ripple inhibition effect is obvious, and the impact of bus current on the supporting capacitor is effectively reduced.
Description
Technical Field
The invention relates to a method for suppressing torque pulsation and bus current pulsation of a switched reluctance motor, and belongs to the field of motor control.
Background
The switch reluctance motor has the characteristics of simple structure, wide speed regulation range, low production cost and the like, and has wide application prospect in the fields of aerospace, electric automobiles, wind power generation and the like. However, the unique doubly salient structure results in a large commutation torque ripple, which severely affects the control performance. Researchers have conducted a great deal of research on torque ripple suppression methods and proposed a series of control strategies such as direct torque control, direct instantaneous torque control, torque distribution functions, iterative learning, etc. However, most of the methods only aim at the suppression of torque pulsation, but cannot give consideration to bus current pulsation, so that the supporting capacitance of the system bears large impact current, and the service life is shortened.
In digital control operating in a discrete manner, finite set model predictive control is a novel control method based on the switching state of the power converter. The optimization target is used for constructing the cost function in a weight mode, so that multi-target optimization is intuitively and conveniently realized, and more attention is paid to the power electronic converter. In a switched reluctance motor driving system, bus current is the sum of inverter input current and capacitor current, the inverter input current can be represented by switching signals and currents of each phase, and torque of each phase is closely related to the switching signals, ripple waves and torque pulsation of the inverter input current are taken as main objects, an operation state with the minimum cost function value is taken as a switching signal by constructing a cost function of the torque of the switched reluctance motor and the input current value of the inverter, the problems of directly solving the torque pulsation and indirectly inhibiting the bus current pulsation can be solved, and the method has important effects on improving the compactness and the speed regulation performance of the switched reluctance motor driving system.
Disclosure of Invention
Aiming at a switched reluctance motor driving system, the invention provides a method for suppressing torque pulsation and bus current pulsation of a switched reluctance motor. The method needs to obtain the flux linkage characteristic and the torque characteristic of the switched reluctance motor through off-line experimental measurement. The total torque reference value is output by the speed proportional integral regulator, and the reference torque value of each phase is calculated by the torque distribution function. Predicting the position information of the k+1 moment according to the position and current information of the k moment and the stored position information of the k-1 moment, calculating the flux linkage and current information of the k+1 moment by combining the optimal switching vector calculated in the previous moment to perform delay compensation, predicting the position information of the k+2 moment and the flux linkage and current information under the available switching vector on the basis, and then obtaining the torque and the input current value of the inverter under each switching state by looking up a table and bringing the torque and the input current value into a cost function, wherein the running state with the minimum cost function value is used as a switching signal to be applied to the control power converter. The bus current is the sum of the input current and the capacitance current of the inverter, and the ripple and the torque ripple of the input current of the inverter are taken as main objects, and the weight coefficients applied respectively are used for selecting proper switching information so that the input current and the torque ripple are restrained at the same time, namely the effects of directly restraining the torque ripple and indirectly restraining the bus current ripple are realized.
The technical scheme of the invention is as follows:
the method for suppressing torque pulsation and bus current pulsation of the switched reluctance motor comprises the following steps:
step 1: the method comprises the steps of obtaining the flux linkage characteristic and the torque characteristic of a switched reluctance motor through experimental measurement; acquiring flux linkage characteristics psi (i, theta) of the switched reluctance motor by a rotor fixing and clamping method, wherein psi is flux linkage, i is current, and theta is position; the current data table i (ψ, θ) is constructed by interpolation method according to the flux linkage characteristic ψ (i, θ). Based on magnetic linkage characteristics, constructing a torque data table T (i, theta) according to the magnetic co-energy deviation of the position; the calculation formula of the magnetic co-energy W' is as follows:
the torque T is calculated as:
step 2: given a reference torque T ref In a closed loop system, T ref The output of the rotating speed loop proportional integral regulator can be obtained;
step 3: torque distribution function versus reference torque T ref Calculating to obtain torque reference value T of each phase ph,ref ；
Step 4: collecting rotor position theta (k) and phase current i of motor at k moment ph (k) Further looking up the flux linkage characteristic data table psi (i, theta) to obtain the flux linkage psi at the k moment ph (k) Storing rotor position information at time θ (k-1);
step 5: predicting rotor position θ (k+1) at time k+1, phase flux linkage ψ ph (k+1), and further predicting the current i at time k+1 by looking up the current characteristic data table i (ψ, θ) ph (k+1); the specific calculation formula of θ (k+1) is:
θ(k+1)＝θ(k)+(θ(k)-θ(k-1))
ψ ph the calculation formula of (k+1) is:
ψ ph (k+1)＝ψ ph (k)+[V * -R ph i(k)]T s
wherein T is s For sampling frequency, R ph For winding resistance, V * An optimal voltage vector calculated for time k-1.
Step 6: predicting rotor position theta (k+2) at time k+2, judging motor operation state, and predicting phase flux linkage psi at time k+2 ph (k+2) and further obtaining the current i at the time of k+2 by looking up the table i (ψ, θ) ph The calculation formula of the rotor position theta (k+2) at the moment of k+2 is as follows:
θ(k+2)＝2θ(k+1)-θ(k)
predicting k+2 moment phase flux linkage ψ ph The calculation formula of (k+2) is:
ψ ph (k+2)＝ψ ph (k+1)+(V ph (k+1)-R ph i ph (k+1))T s
wherein V is ph (k+1) is the predicted phase voltage value at time k+1, which is related to the switching vector, T s For sampling frequency, R ph Is the winding resistance;
step 7: phase current and rotor position information predicted at time k+2 are combined, and each phase torque T at time k+2 is predicted by looking up table T (i, θ) ph (k+2) calculating the predicted value of each phase torque and the reference value thereofT ph,ref Sum of squares T of differences p (k+2) and inverter input current value i SRM (k+2)：
In N ph Representing the phase number, T, of the switched reluctance motor p (k+2) represents the sum of squares of the differences between the predicted values of the torque of each phase at time k+2 and the reference values thereof;
wherein i is SRM (k+2) represents the predicted inverter input current value at time k+2, s ph Is a switching vector;
step 8: calculating a cost function J according to the square sum of the predicted torque of each phase at the moment k+2 and the reference value difference and the inverter input current value predicted in the step 7
J＝ω T T p (k+2)+ω i i SRM (k+2) 2
Wherein omega is T 、ω i The weight coefficients are respectively the square sum of the difference between the torque predicted value of each phase and the reference value thereof and the input current value of the inverter;
step 9: and controlling a switch in the power converter by taking the running state with the smallest cost function value as the optimal state as a switch signal.
Advantageous effects
The invention discloses a method for suppressing torque pulsation and bus current pulsation of a switched reluctance motor. The method needs to obtain the flux linkage characteristic and the torque characteristic of the switched reluctance motor through off-line experimental measurement. The total torque reference value is calculated by a speed loop proportional segment controller and the torque distribution function is used for calculating the reference torque value of each phase. According to the position and current information at the moment k and the position information at the moment k-1, the flux linkage and current information at the moment k+1 are calculated by combining the optimal switching vector calculated at the previous moment, on the basis, the position information at the moment k+2 and the flux linkage and current information under the available switching vector are predicted, then the torque and the input current value of the inverter in each switching state are obtained through table lookup and brought into a cost function, the running state with the minimum cost function value is used as a switching signal and is applied to the control power converter, so that the effects of directly restraining torque ripple and indirectly restraining bus current ripple are achieved by reducing the input current ripple of the inverter.
The simulation verifies the effectiveness of the method, the control logic of the method is simple, the torque pulsation and bus current pulsation inhibition effect is obvious, and the impact of bus current on the supporting capacitor is effectively reduced while the smooth control of the motor is realized.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a graph of the flux linkage characteristic of a switched reluctance motor;
FIG. 2 is a graph of a current data table for a switched reluctance motor;
FIG. 3 is a torque characteristic of a switched reluctance motor;
FIG. 4 is a schematic block diagram of a control method according to the present invention;
FIG. 5 is a flow chart diagram of a method for controlling the predicted torque of a switched reluctance motor efficiency optimization model;
FIG. 6 is a control effect diagram of a conventional current chopping control when operating at 1000 rpm;
FIG. 7 is a control effect diagram of a conventional model predictive torque control method when operating at 1000 rpm;
FIG. 8 is a control effect diagram of the model predictive torque control method of the present invention when operating at 1000 rpm;
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings and specific examples. The example motor used was a 1kW three-phase 12/8 pole switched reluctance motor.
Step 1: the method comprises the steps of obtaining the flux linkage characteristic and the torque characteristic of a switched reluctance motor through experimental measurement; acquiring flux linkage characteristics psi (i, theta) of the switched reluctance motor by a rotor fixing and clamping method, wherein psi is flux linkage, i is current, and theta is position; the current lookup table i (psi, theta) is constructed by interpolation. Based on the magnetic linkage characteristic, a torque data table T (i, theta) is constructed according to the magnetic co-energy and the position bias derivative. The characteristics of flux linkage, current and torque are shown in fig. 1-3. The calculation formula of the magnetic co-energy W' is shown in a formula (1), and the calculation formula of the torque T is shown in a formula (2);
step 2: given a reference torque T ref . In the closed loop system as shown in FIG. 4, T ref The output of a rotating speed loop Proportional Integral (PI) controller is obtained;
step 3: calculating torque values of each phase by a torque distribution function; the torque distribution function is shown in formula (3);
in θ on 、θ ov 、θ off 、θ p Respectively represents an opening angle, a phase change angle, a closing angle and a rotor period angle, T ph,ref Representing torque reference values of each phase;
step 4: collecting rotor position theta (k) and phase current i of motor at k moment ph (k) And further look up the flux linkage characteristic data table ψ (i, θ) to obtain the flux linkage ψ at k time ph (k) Simultaneously storing rotor position information at the time of theta (k-1);
step 5: the rotor position θ (k+1) at time k+1, the phase flux linkage ψ, is predicted from equation (4) and equation (5) ph (k+1)，Further predicting the current i at time k+1 by looking up the current data table i (ψ, θ) ph (k+1)。
θ(k+1)＝θ(k)+(θ(k)-θ(k-1)) (4)
ψ ph (k+1)＝ψ ph (k)+[V * -R ph i(k)]T s (5)
Wherein T is s For sampling frequency, R ph For winding resistance, V * An optimal voltage vector calculated for time k-1;
step 6: predicting a rotor position theta (k+2) at the time k+2 by the formula (6) and judging the running state of the motor, and predicting a phase flux linkage phi at the time k+2 ph (k+2) and further obtaining the current i at the time of k+2 by looking up the table i (ψ, θ) ph (k+2). Defining a switching vector s ph The relation with the phase voltage is shown in formula (7), wherein s ph =1 indicates that both switching tubes of the asymmetrical half-bridge power converter are on, s ph Only one switching tube is turned on for =0, s is expressed ph -1 indicates that both switching tubes are closed; the combination principle of the switch states is as follows: in the unidirectional conduction region, only the switching state of the current conduction phase is calculated, and the rest phases are-1; in the commutation area, only the switching states of two phases being commutated are predicted, and the prediction table of the switching states is shown in table 1. Based on the predicted k+1 time phase voltage, the k+2 time phase flux linkage ψ is predicted by equation (8) ph (k+2) looking up data table i (ψ, θ) to obtain current i at time k+2 ph (k+2)；
θ(k+2)＝2θ(k+1)-θ(k) (6)
Wherein θ (k+2) is the predicted rotor position at time k+2;
v in bus Represents bus voltage, V T 、V D 、V ph 、s ph Respectively representing the voltage drop of a switching tube, the voltage drop of a freewheeling diode, the phase voltage and state variables;
ψ ph (k+2)＝ψ ph (k+1)+(V ph (k+1)-R ph i ph (k+1))T s (8)
wherein V is ph (k+1) is the predicted phase voltage value at time k+1, T s For sampling frequency, R ph Is the winding resistance;
step 7: predicting each phase torque predicted value at the moment k+2 by looking up a table T (i, theta) by combining the phase current at the moment k+2 and the rotor position information, and obtaining the square sum T of the difference between each phase torque predicted value and the reference value thereof by the formulas (9) and (10) respectively p Inverter input current value i SRM ；
Wherein N is ph Representing the phase number, T, of the switched reluctance motor p (k+2)、i SRM (k+2) is the sum of squares of the differences between the predicted values of the torque of each phase at time k+2 and the reference values, and the inverter input current value, s ph Is a switching vector;
step 8: predicting the square sum of the difference between the torque predicted value of each phase at the moment k+2 and the reference value thereof and the input current value of the inverter according to the step 7, and further calculating a cost function;
J＝ω T T p (k+2)+ω i i SRM (k+2) 2 (11)
wherein omega is T 、ω i The weight coefficients are respectively the square sum of the difference between the torque predicted value of each phase and the reference value thereof and the input current value of the inverter;
step 9: controlling a switch in the power converter by taking an operation state with the smallest cost function value as an optimal state as a switch signal;
FIG. 5 is a flow chart of a control method according to the present invention, and FIGS. 6, 7 and 8 are respectively a current chopping control when the motor is operated at 1000rpmThe control effect diagram of the traditional model predictive control method and the control method provided by the invention; the power supply resistance in the simulation was set to 0.16Ω, defining an average torque T avg And torque ripple T ripple The calculation formulas of (a) and (b) are shown as formulas (12) and (13), and the bus current pulsation i is shown SRM_ripple The calculation formula of (2) is shown as formula (14);
in θ 1 、θ 2 Respectively representing a start value and an end value of a rotor angle period, wherein T (theta) is the sum of torques of all phases;
wherein i is SRM_max ，i SRM_min ，i SRM_avg The maximum value, the minimum value and the average value of the bus current are respectively shown.
The control properties of the three methods are shown in table 1.
TABLE 1 comparison of effects of different control methods
As can be seen from the results of Table 1, the method for suppressing the torque ripple and the bus current ripple of the switched reluctance motor provided by the invention has obvious effect on suppressing the bus current ripple while reducing the torque ripple, and has smooth torque control and small damage to the supporting capacitor.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (3)
1. A method for suppressing torque pulsation and bus current pulsation of a switched reluctance motor is characterized by comprising the following steps of:
the method comprises the following steps:
step 1: the rotor fixing and clamping method is used for carrying out experimental measurement to obtain the flux linkage characteristic and the torque characteristic of the switch reluctance motor;
step 2: given a reference torque T ref In a closed loop system, T ref The output of the rotating speed loop proportional integral regulator is obtained;
step 3: torque distribution function versus reference torque T ref Calculating to obtain torque reference value T of each phase ph,ref ；
Step 4: collecting rotor position theta (k) and phase current i of motor at k moment ph (k) Further looking up the flux linkage data table i (psi, theta) to obtain the flux linkage psi at k moment ph (k) Storing rotor position information θ (k-1) at time k-1;
step 5: predicting rotor position θ (k+1) at time k+1, phase flux linkage ψ ph (k+1), and further predicting the current i at time k+1 by looking up the current data table i (ψ, θ) ph (k+1)；
Step 6: predicting rotor position theta (k+2) at time k+2, judging motor operation state, and predicting phase flux linkage psi at time k+2 ph (k+2) and further obtaining the current i at the time of k+2 by looking up the table i (ψ, θ) ph (k+2)；
Step 7: predicting each phase torque predicted value T at time k+2 by looking up table T (i, θ) in combination with predicted phase current at time k+2 and rotor position information ph (k+2) and inverter input current value i SRM (k+2)；
Step 8: predicting the square sum of the difference between the torque predicted value of each phase at the moment k+2 and the reference value thereof and the input current value of the inverter according to the step 7, and further calculating a cost function;
step 9: and controlling a switch in the power converter by taking the running state with the smallest cost function value as the optimal state as a switch signal.
2. The method for suppressing torque ripple and bus current ripple of a switched reluctance motor according to claim 1, wherein: step 7 according to the formula
Calculating an inverter input current value; wherein i is SRM (k+2) represents the predicted inverter input current value at time k+2, s ph Is a switching vector;
according to the formula
Calculating the square sum of the difference between the torque predicted value of each phase and the reference value thereof; wherein N is ph Representing the number of switched reluctance motor phases.
3. The method for suppressing torque ripple and bus current ripple of a switched reluctance motor according to claim 1, wherein: step 8 according to the formula
J＝ω T T p (k+2)+ω i i SRM (k+2) 2
Calculating a cost function; wherein omega is T 、ω i The sum of squares of the differences between the predicted values of the torque of each phase and the reference values thereof and the weight coefficient of the input current value of the inverter are respectively.
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